US 12,465,186 B2
Method for operating a mobile self-propelled appliance and mobile self-propelled appliance operated according to the method
Frank Schnitzer, Bad Neustadt (DE); Kristina Daniel, Bad Neustadt (DE); and Stefan Hassfurter, Maroldsweisach (DE)
Assigned to BSH Hausgeräte GmbH, Munich (DE)
Filed by BSH Hausgeräte GmbH, Munich (DE)
Filed on Oct. 26, 2023, as Appl. No. 18/494,830.
Claims priority of application No. 10 2022 211 684.4 (DE), filed on Nov. 4, 2022.
Prior Publication US 2024/0148210 A1, May 9, 2024
Int. Cl. A47L 11/40 (2006.01); A47L 9/28 (2006.01); G05D 1/00 (2006.01)
CPC A47L 11/4011 (2013.01) [A47L 9/2805 (2013.01); A47L 9/2852 (2013.01); G05D 1/0219 (2013.01); A47L 2201/04 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A method for operating a mobile self-propelled appliance or at least one of a floor cleaning appliance, a robot vacuum cleaner, a robot sweeper or a robot mopping appliance, the method comprising the following steps:
detecting at least one obstacle in a floor processing area;
cleaning an area surrounding the obstacle by carrying out at least two straight driving maneuvers at the obstacle from different directions;
basing a number and direction of the straight driving maneuvers on at least one of a size or a shape of the obstacle;
further basing the number of straight driving maneuvers on at least one of an operating range of cleaning elements of the appliance or a predetermined minimum distance between the appliance and the obstacle; and
determining a planning of the driving maneuvers by using an outer circle enveloping a contour of the obstacle and an inner circle lying on an inside of the contour of the obstacle.